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<div class="title">multiscale_feature_persistence.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Alexandru-Eugen Ichim</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_MULTISCALE_FEATURE_PERSISTENCE_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_MULTISCALE_FEATURE_PERSISTENCE_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/point_representation.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="norms_8h.html">pcl/common/norms.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Feature&gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html">   64</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_multiscale_feature_persistence.html">MultiscaleFeaturePersistence</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointSource&gt;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;MultiscaleFeaturePersistence&lt;PointSource, PointFeature&gt; &gt; Ptr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const MultiscaleFeaturePersistence&lt;PointSource, PointFeature&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointFeature&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">FeatureCloud</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointFeature&gt;::Ptr FeatureCloudPtr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::Feature&lt;PointSource, PointFeature&gt;::Ptr FeatureEstimatorPtr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const pcl::PointRepresentation &lt;PointFeature&gt; &gt; FeatureRepresentationConstPtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt;PointSource&gt;::input_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#acad907a232d8f53922d837685a7a1d88">MultiscaleFeaturePersistence</a> ();</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#ab28f54af5e815535bc41d6e58c5a94f4">   80</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#ab28f54af5e815535bc41d6e58c5a94f4">~MultiscaleFeaturePersistence</a> () {}</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#aa6dd84394b9f1c382e026843f48ff75b">computeFeaturesAtAllScales</a> ();</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#abd1ef078eadb07a1c91276957f197865">determinePersistentFeatures</a> (FeatureCloud &amp;output_features,</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                                   boost::shared_ptr&lt;std::vector&lt;int&gt; &gt; &amp;output_indices);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#a8fb4b0b29389719ebdf3363e6c3067d7">   99</a></span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a8fb4b0b29389719ebdf3363e6c3067d7">setScalesVector</a> (std::vector&lt;float&gt; &amp;scale_values) { <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a700a644c3268ec9ae619584134c43dcf">scale_values_</a> = scale_values; }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">inline</span> std::vector&lt;float&gt;</div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#a0ca6498bd8734bd1a36d9a4b3adacc92">  103</a></span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a0ca6498bd8734bd1a36d9a4b3adacc92">getScalesVector</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a700a644c3268ec9ae619584134c43dcf">scale_values_</a>; }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#a18007684230068263a72634de5b14578">  111</a></span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a18007684230068263a72634de5b14578">setFeatureEstimator</a> (FeatureEstimatorPtr feature_estimator) { <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a7c0dfc200321784727cf0f92a237eb26">feature_estimator_</a> = feature_estimator; };</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keyword">inline</span> FeatureEstimatorPtr</div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#a538fb17e9871ba4c61745aec350c32df">  115</a></span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a538fb17e9871ba4c61745aec350c32df">getFeatureEstimator</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a7c0dfc200321784727cf0f92a237eb26">feature_estimator_</a>; }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#abdd02a2d62fd46cb88be143d7f99a447">  121</a></span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#abdd02a2d62fd46cb88be143d7f99a447">setPointRepresentation</a> (<span class="keyword">const</span> FeatureRepresentationConstPtr&amp; feature_representation) { feature_representation_ = feature_representation; }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keyword">inline</span> FeatureRepresentationConstPtr <span class="keyword">const</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#afdcd18345933acf55ba85d7bfd2fcf18">  125</a></span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#afdcd18345933acf55ba85d7bfd2fcf18">getPointRepresentation</a> () { <span class="keywordflow">return</span> feature_representation_; }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#a5f4d13f11010d2d880c29ebf8e362342">  131</a></span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a5f4d13f11010d2d880c29ebf8e362342">setAlpha</a> (<span class="keywordtype">float</span> alpha) { <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a5bf873dbce5167c97cf33ea5aad3d2eb">alpha_</a> = alpha; }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#abd04ca7424554af79ab6c9c3b7f4c108">  135</a></span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#abd04ca7424554af79ab6c9c3b7f4c108">getAlpha</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a5bf873dbce5167c97cf33ea5aad3d2eb">alpha_</a>; }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#a6a5b892e4253a4ef49350d98d7f05ef3">  141</a></span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a6a5b892e4253a4ef49350d98d7f05ef3">setDistanceMetric</a> (<a class="code" href="group__common.html#ga9d37f00989a9de11b48deb263649463c">NormType</a> distance_metric) { <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a9871addda0d0b88512e5df0b2f5bab8d">distance_metric_</a> = distance_metric; }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keyword">inline</span> <a class="code" href="group__common.html#ga9d37f00989a9de11b48deb263649463c">NormType</a></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#ab661523592facfa58cee5b77b5b08ed1">  145</a></span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#ab661523592facfa58cee5b77b5b08ed1">getDistanceMetric</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a9871addda0d0b88512e5df0b2f5bab8d">distance_metric_</a>; }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#afd373ece26c8493c53e63d51e1370d07">initCompute</a> ();</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#af48aef272809c0da073599bc01482ad0">computeFeatureAtScale</a> (<span class="keywordtype">float</span> &amp;scale,</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                             FeatureCloudPtr &amp;features);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#ad4dc2cea56de8585b0a316c33ba33944">distanceBetweenFeatures</a> (<span class="keyword">const</span> std::vector&lt;float&gt; &amp;a,</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                               <span class="keyword">const</span> std::vector&lt;float&gt; &amp;b);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a84c189fe2f5dbb7e11d33888884b46bd">calculateMeanFeature</a> ();</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a4e8860a2d40e66834ee8f259ad26c0b5">extractUniqueFeatures</a> ();</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#a700a644c3268ec9ae619584134c43dcf">  181</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a700a644c3268ec9ae619584134c43dcf">scale_values_</a>;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#a5bf873dbce5167c97cf33ea5aad3d2eb">  184</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a5bf873dbce5167c97cf33ea5aad3d2eb">alpha_</a>;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#a9871addda0d0b88512e5df0b2f5bab8d">  187</a></span>&#160;      <a class="code" href="group__common.html#ga9d37f00989a9de11b48deb263649463c">NormType</a> <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a9871addda0d0b88512e5df0b2f5bab8d">distance_metric_</a>;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#a7c0dfc200321784727cf0f92a237eb26">  190</a></span>&#160;      FeatureEstimatorPtr <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a7c0dfc200321784727cf0f92a237eb26">feature_estimator_</a>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      std::vector&lt;FeatureCloudPtr&gt; features_at_scale_;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      std::vector&lt;std::vector&lt;std::vector&lt;float&gt; &gt; &gt; features_at_scale_vectorized_;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      std::vector&lt;float&gt; mean_feature_;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      FeatureRepresentationConstPtr feature_representation_;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1_multiscale_feature_persistence.html#a650770982624fb806872a9e13b1b04d5">  200</a></span>&#160;      std::vector&lt;std::list&lt;size_t&gt; &gt; <a class="code" href="classpcl_1_1_multiscale_feature_persistence.html#a650770982624fb806872a9e13b1b04d5">unique_features_indices_</a>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      std::vector&lt;std::vector&lt;bool&gt; &gt; unique_features_table_;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  };</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;}</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/multiscale_feature_persistence.hpp&gt;</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_MULTISCALE_FEATURE_PERSISTENCE_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html">pcl::MultiscaleFeaturePersistence</a></div><div class="ttdoc">Generic class for extracting the persistent features from an input point cloud It can be given any Fe...</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_a0ca6498bd8734bd1a36d9a4b3adacc92"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#a0ca6498bd8734bd1a36d9a4b3adacc92">pcl::MultiscaleFeaturePersistence::getScalesVector</a></div><div class="ttdeci">std::vector&lt; float &gt; getScalesVector()</div><div class="ttdoc">Method for getting the scale parameters vector</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_a18007684230068263a72634de5b14578"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#a18007684230068263a72634de5b14578">pcl::MultiscaleFeaturePersistence::setFeatureEstimator</a></div><div class="ttdeci">void setFeatureEstimator(FeatureEstimatorPtr feature_estimator)</div><div class="ttdoc">Setter method for the feature estimator</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_a4e8860a2d40e66834ee8f259ad26c0b5"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#a4e8860a2d40e66834ee8f259ad26c0b5">pcl::MultiscaleFeaturePersistence::extractUniqueFeatures</a></div><div class="ttdeci">void extractUniqueFeatures()</div><div class="ttdoc">Selects the so-called 'unique' features from the cloud of features at each level. These features are ...</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.hpp:158</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_a538fb17e9871ba4c61745aec350c32df"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#a538fb17e9871ba4c61745aec350c32df">pcl::MultiscaleFeaturePersistence::getFeatureEstimator</a></div><div class="ttdeci">FeatureEstimatorPtr getFeatureEstimator()</div><div class="ttdoc">Getter method for the feature estimator</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:115</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_a5bf873dbce5167c97cf33ea5aad3d2eb"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#a5bf873dbce5167c97cf33ea5aad3d2eb">pcl::MultiscaleFeaturePersistence::alpha_</a></div><div class="ttdeci">float alpha_</div><div class="ttdoc">Parameter that determines if a feature is to be considered unique or not</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:184</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_a5f4d13f11010d2d880c29ebf8e362342"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#a5f4d13f11010d2d880c29ebf8e362342">pcl::MultiscaleFeaturePersistence::setAlpha</a></div><div class="ttdeci">void setAlpha(float alpha)</div><div class="ttdoc">Sets the alpha parameter</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_a650770982624fb806872a9e13b1b04d5"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#a650770982624fb806872a9e13b1b04d5">pcl::MultiscaleFeaturePersistence::unique_features_indices_</a></div><div class="ttdeci">std::vector&lt; std::list&lt; size_t &gt; &gt; unique_features_indices_</div><div class="ttdoc">Two structures in which to hold the results of the unique feature extraction process....</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_a6a5b892e4253a4ef49350d98d7f05ef3"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#a6a5b892e4253a4ef49350d98d7f05ef3">pcl::MultiscaleFeaturePersistence::setDistanceMetric</a></div><div class="ttdeci">void setDistanceMetric(NormType distance_metric)</div><div class="ttdoc">Method for setting the distance metric that will be used for computing the difference between feature...</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:141</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_a700a644c3268ec9ae619584134c43dcf"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#a700a644c3268ec9ae619584134c43dcf">pcl::MultiscaleFeaturePersistence::scale_values_</a></div><div class="ttdeci">std::vector&lt; float &gt; scale_values_</div><div class="ttdoc">The general parameter for determining each scale level</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:181</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_a7c0dfc200321784727cf0f92a237eb26"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#a7c0dfc200321784727cf0f92a237eb26">pcl::MultiscaleFeaturePersistence::feature_estimator_</a></div><div class="ttdeci">FeatureEstimatorPtr feature_estimator_</div><div class="ttdoc">the feature estimator that will be used to determine the feature set at each scale level</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:190</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_a84c189fe2f5dbb7e11d33888884b46bd"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#a84c189fe2f5dbb7e11d33888884b46bd">pcl::MultiscaleFeaturePersistence::calculateMeanFeature</a></div><div class="ttdeci">void calculateMeanFeature()</div><div class="ttdoc">Method that averages all the features at all scales in order to obtain the global mean feature; this ...</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.hpp:137</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_a8fb4b0b29389719ebdf3363e6c3067d7"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#a8fb4b0b29389719ebdf3363e6c3067d7">pcl::MultiscaleFeaturePersistence::setScalesVector</a></div><div class="ttdeci">void setScalesVector(std::vector&lt; float &gt; &amp;scale_values)</div><div class="ttdoc">Method for setting the scale parameters for the algorithm</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:99</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_a9871addda0d0b88512e5df0b2f5bab8d"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#a9871addda0d0b88512e5df0b2f5bab8d">pcl::MultiscaleFeaturePersistence::distance_metric_</a></div><div class="ttdeci">NormType distance_metric_</div><div class="ttdoc">Parameter that determines which distance metric is to be usedto calculate the difference between feat...</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:187</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_aa6dd84394b9f1c382e026843f48ff75b"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#aa6dd84394b9f1c382e026843f48ff75b">pcl::MultiscaleFeaturePersistence::computeFeaturesAtAllScales</a></div><div class="ttdeci">void computeFeaturesAtAllScales()</div><div class="ttdoc">Method that calls computeFeatureAtScale () for each scale parameter</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.hpp:93</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_ab28f54af5e815535bc41d6e58c5a94f4"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#ab28f54af5e815535bc41d6e58c5a94f4">pcl::MultiscaleFeaturePersistence::~MultiscaleFeaturePersistence</a></div><div class="ttdeci">virtual ~MultiscaleFeaturePersistence()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:80</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_ab661523592facfa58cee5b77b5b08ed1"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#ab661523592facfa58cee5b77b5b08ed1">pcl::MultiscaleFeaturePersistence::getDistanceMetric</a></div><div class="ttdeci">NormType getDistanceMetric()</div><div class="ttdoc">Returns the distance metric that is currently used to calculate the difference between feature vector...</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_abd04ca7424554af79ab6c9c3b7f4c108"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#abd04ca7424554af79ab6c9c3b7f4c108">pcl::MultiscaleFeaturePersistence::getAlpha</a></div><div class="ttdeci">float getAlpha()</div><div class="ttdoc">Get the value of the alpha parameter</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_abd1ef078eadb07a1c91276957f197865"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#abd1ef078eadb07a1c91276957f197865">pcl::MultiscaleFeaturePersistence::determinePersistentFeatures</a></div><div class="ttdeci">void determinePersistentFeatures(FeatureCloud &amp;output_features, boost::shared_ptr&lt; std::vector&lt; int &gt; &gt; &amp;output_indices)</div><div class="ttdoc">Central function that computes the persistent features</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.hpp:195</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_abdd02a2d62fd46cb88be143d7f99a447"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#abdd02a2d62fd46cb88be143d7f99a447">pcl::MultiscaleFeaturePersistence::setPointRepresentation</a></div><div class="ttdeci">void setPointRepresentation(const FeatureRepresentationConstPtr &amp;feature_representation)</div><div class="ttdoc">Provide a pointer to the feature representation to use to convert features to k-D vectors.</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_acad907a232d8f53922d837685a7a1d88"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#acad907a232d8f53922d837685a7a1d88">pcl::MultiscaleFeaturePersistence::MultiscaleFeaturePersistence</a></div><div class="ttdeci">MultiscaleFeaturePersistence()</div><div class="ttdoc">Empty constructor</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_ad4dc2cea56de8585b0a316c33ba33944"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#ad4dc2cea56de8585b0a316c33ba33944">pcl::MultiscaleFeaturePersistence::distanceBetweenFeatures</a></div><div class="ttdeci">float distanceBetweenFeatures(const std::vector&lt; float &gt; &amp;a, const std::vector&lt; float &gt; &amp;b)</div><div class="ttdoc">Function that calculates the scalar difference between two features</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.hpp:128</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_af48aef272809c0da073599bc01482ad0"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#af48aef272809c0da073599bc01482ad0">pcl::MultiscaleFeaturePersistence::computeFeatureAtScale</a></div><div class="ttdeci">virtual void computeFeatureAtScale(float &amp;scale, FeatureCloudPtr &amp;features)</div><div class="ttdoc">Method to compute the features for the point cloud at the given scale</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.hpp:118</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_afd373ece26c8493c53e63d51e1370d07"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#afd373ece26c8493c53e63d51e1370d07">pcl::MultiscaleFeaturePersistence::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">Checks if all the necessary input was given and the computations can successfully start</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.hpp:67</div></div>
<div class="ttc" id="aclasspcl_1_1_multiscale_feature_persistence_html_afdcd18345933acf55ba85d7bfd2fcf18"><div class="ttname"><a href="classpcl_1_1_multiscale_feature_persistence.html#afdcd18345933acf55ba85d7bfd2fcf18">pcl::MultiscaleFeaturePersistence::getPointRepresentation</a></div><div class="ttdeci">FeatureRepresentationConstPtr const getPointRepresentation()</div><div class="ttdoc">Get a pointer to the feature representation used when converting features into k-D vectors.</div><div class="ttdef"><b>Definition:</b> multiscale_feature_persistence.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="agroup__common_html_ga9d37f00989a9de11b48deb263649463c"><div class="ttname"><a href="group__common.html#ga9d37f00989a9de11b48deb263649463c">pcl::NormType</a></div><div class="ttdeci">NormType</div><div class="ttdoc">Enum that defines all the types of norms available.</div><div class="ttdef"><b>Definition:</b> norms.h:55</div></div>
<div class="ttc" id="anorms_8h_html"><div class="ttname"><a href="norms_8h.html">norms.h</a></div></div>
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